Trajectory planning of the humanoid manipulator

• Autorzy: Kacprzak C. , Pająk G.

Identyfikatory

DOI

10.2478/ijame-2019-0037

• Języki publikacji: EN

Abstrakty

EN

The paper presents a method of planning a collision-free trajectory for a humanoid manipulator mounted on a rail system. The task of the robot is to move its end-effectors from the current position to the given final location in the workspace. The method is based on a redundancy resolution at the velocity level. In addition to this primary task, secondary objectives are also taken into account. The motion of the robot is planned in order to maximize a manipulability measure in purpose of avoiding manipulator singularities. State inequality constraints resulting from collision avoidance conditions are also considered. A computer example involving a humanoid manipulator operating in a three dimensional task space is also presented.

Słowa kluczowe

EN

humanoid manipulator; redundancy resolution; collision avoidance; manipulability measure

PL

manipulator; redundancja; unikanie kolizji

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2019
• Tom: Vol. 24, no. 3
• Strony: 591--602
• Opis fizyczny: Bibliogr. 16 poz., wykr.

Twórcy

autor

Kacprzak C.

• University of Zielona Góra Institute of Mechanical Engineering and Machine Operation Licealna 9, 65-417 Zielona Góra, POLAND

autor

Pająk G.

• University of Zielona Góra Institute of Mechanical Engineering and Machine Operation Licealna 9, 65-417 Zielona Góra, POLAND

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020)